code: def test_outer_product():
      sigmas = np.random.randn(1000000, 2)
      x = np.random.randn(2)
  
      P1 = outer_product_sum(sigmas - x)
  
      P2 = 0
      for s in sigmas:
          y = s - x
          P2 += np.outer(y, y)
      assert np.allclose(P1, P2)
  
file_path: filterpy/filterpy/common/tests/test_helpers.py
imports: from filterpy.common import kinematic_kf, Saver, inv_diagonal, outer_product_sum
  import numpy
  from filterpy.kalman import MerweScaledSigmaPoints, UnscentedKalmanFilter, ExtendedKalmanFilter
label_desc: Use image node_id 7 for calling a global function with example usage: test_outer_product() without return types